Automatic plant data acquisition vehicle and operation system thereof
By designing an automated plant data acquisition vehicle, using components such as electric slide rails and swing arm motors, automated data acquisition of plant plants is achieved, solving the problems of manual operation and high labor intensity in the existing technology, and improving data acquisition efficiency and precision.
Patent Information
- Application Number
- CN202411481141.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-23
- Publication Date
- 2025-01-14
AI Technical Summary
In the prior art, researchers need to manually probe the endoscope camera and light bulb into the glass tube to collect the root growth data of the plant plant. It is inconvenient to operate and labor-intensive, and the data collection efficiency is low, especially when multiple needs to be used. When the plants are collected.
An automated plant data acquisition vehicle was designed, including convenient acquisition components and sample sampling components, using electric slide rails, swing arm motors, rotating motors, telescopic push rods, panoramic cameras and endoscopic cameras, etc., through automated machinery Structure and control system realize data collection of the above-ground and underground roots of the plant, reducing manual operations.
Improves the efficiency and accuracy of data collection, reduces the intensity of manual labor, and can automatically collect data on multiple plants. It has a wide range of applications, is suitable for complex terrain, and can automatically track and remote control, reducing manual participation in person. need.
Smart Images
Figure CN119310077A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of plant data collection, and in particular to an automated plant data collection vehicle and an operating system thereof. Background Art
[0002] When studying plants, it is necessary to plant them in the land of the experimental field, and then study the above-ground phenotypes and underground root performance of the plants. With the advancement of technology, the research methods of plant root systems have also improved, from destructive excavation and cutting to micro-invasive observation to non-destructive monitoring. In the past, the classic root system research methods mainly include: excavation method, single block method, drilling method, profile wall method and other invasive and destructive methods, and non-destructive or minimally invasive research methods include: glass wall method, endoscope tube method (micro-root tube), container method, etc.
[0003] When studying plants, the endoscope method is often used to observe and study the root systems of plants. The endoscope method usually uses a soil drill to drill holes, insert a glass tube into the soil, and collect data. In the prior art, researchers need to insert an endoscope camera and a light bulb into the glass tube, and use the endoscope camera to collect the root growth data of the plant. This operation method requires manual bending to insert the endoscope camera and the light bulb into the glass tube one by one to collect the root growth data of the plant. Data research requires the collection of data from multiple plants. This operation method has high labor intensity, and the endoscope camera is manually controlled to move inside the endoscope tube, which is inconvenient to operate and has low data collection efficiency. Summary of the invention
[0004] The present invention provides an automated plant data collection vehicle and an operating system thereof, which can effectively solve the problem in the prior art of the above-mentioned background technology that researchers need to insert an endoscope camera and a light bulb into a glass tube to collect root growth data of the plants using the endoscope camera. This operation method requires manual bending over to insert the endoscope camera and the light bulb into the glass tube one by one to collect root growth data of the plants, while data research requires data collection of multiple plants. This operation method has high manual labor intensity, and the endoscope camera is manually controlled to move inside the endoscope tube, which is inconvenient to operate and has low data collection efficiency.
[0005] To achieve the above object, the present invention provides the following technical solutions: an automated plant data collection vehicle, comprising an assembly platform, a convenient collection component is arranged on one side of the top of the assembly platform, and the convenient collection component comprises an electric slide rail;
[0006] An electric slide rail is installed on one side of the top of the assembly table, and a swing arm motor is installed on the top of the output end of the electric slide rail. The output end of the swing arm motor is connected to one end of the electric swing arm, and the other end of the electric swing arm is rotatably connected to a rotating seat. A rotating motor is installed on one side of the electric swing arm at one end of the rotating seat, and the output end of the rotating motor is connected to one end of the rotating shaft of the rotating seat. A telescopic outer tube is connected to one side of the rotating seat, and a telescopic inner rod is slidably connected to the bottom of the inner side of the telescopic outer tube. The bottom of the telescopic inner rod is connected to one side of the top of the mounting plate, and a telescopic electric push rod is installed in the middle of one side of the telescopic outer tube. The output end of the telescopic electric push rod is connected to the middle of the top of the mounting plate, and a panoramic camera is installed on the other side of the top of the mounting plate.
[0007] A rotating motor is arranged at the bottom of the mounting plate, a threaded seat is connected to the output end of the rotating motor, a guide rail is connected to the bottom of the threaded seat, a traction rack is connected to one side of the guide rail, a movable slide is slidably connected to the outer side of the guide rail, an endoscope camera is installed on the top of one side of the movable slide, and an illuminating lamp is installed on one side of the movable slide at the bottom of the endoscope camera;
[0008] The four corners of the bottom of the assembly platform are equipped with moving wheels.
[0009] According to the above technical solution, the bottom of the mounting plate is rotatably connected to an adjustment seat, one end of the mounting plate is equipped with an adjustment motor, the output end of the adjustment motor is connected to one end of the rotating shaft of the adjustment seat, and a rotating motor is installed at the bottom of the adjustment seat.
[0010] According to the above technical solution, a traction motor is installed on the other side of the movable slide, and the output end of the traction motor is connected to a driving gear, and the driving gear is meshed with the traction rack.
[0011] According to the above technical solution, a protective cover is installed on the outside of the driving gear, and a glass tube is connected to the bottom of the threaded seat and located on the outside of the traction motor through a threaded hole.
[0012] According to the above technical solution, the outer side of the telescopic inner rod is fitted to the inner side of the telescopic outer tube, and both the outer side of the telescopic inner rod and the inner side of the telescopic outer tube are smooth surfaces.
[0013] According to the above technical solution, a sample sampling assembly is provided on the other side of the top of the assembly table, and the sample sampling assembly includes an electric rotating clamp;
[0014] An electric rotating clamp is installed at one end of the mounting plate, and a sampling box is installed on the other side of the top of the assembly table. Partition chambers are evenly arranged inside the sampling box, and a sampling drawer box is slidably embedded inside the partition chambers. A placement grid is arranged inside the sampling drawer box. Moving slide bars are installed on the top of both sides of the outside of the sampling box, and moving ears are slidably connected to the outer sides of the moving slide bars. One side of the top of the sampling box is connected to the bottom side of the sunshade cloth, and the tops of the two moving ears are connected to the other side of the bottom of the sunshade cloth. A moving electric push rod is installed on the top of the assembly table on one side of the outside of the sampling box, and the output end of the moving electric push rod is connected to the bottom of the adjacent moving ear.
[0015] According to the above technical solution, a magnet sheet is bonded to the bottom of the inner side of the partition chamber, and the outer side of the movable slide rod is a smooth surface.
[0016] According to the above technical solution, the input ends of the electric slide rail, swing arm motor, electric swing arm, rotating motor, telescopic electric push rod, panoramic camera, adjustment motor, rotating motor, endoscope camera, lighting lamp, traction motor, moving wheel, electric rotating clamp and mobile electric push rod are electrically connected to the output end of the external controller, and the input end of the external controller is electrically connected to the output end of the external power supply.
[0017] According to the above technical solution, an automated plant data collection vehicle operating system includes an automated plant data collection vehicle operating system, the operating system including a collection module, a mobile module and a data processing module;
[0018] The acquisition module includes a panoramic camera, an endoscopic camera and an electric rotating fixture;
[0019] The mobile module includes an electric slide rail, a swing arm motor, an electric swing arm, a rotating motor, a telescopic electric push rod, an adjusting motor, a rotating motor, a traction motor, a moving wheel, an electric rotating fixture and a moving electric push rod;
[0020] The data processing module is an external controller, which can be connected to WiFi and Bluetooth for wireless operation;
[0021] And the system includes the following steps:
[0022] S1. Plan the path of the test field in advance, place the trolley on the path in the test field, and control the rotation of the moving wheels to control the trolley assembly platform to move;
[0023] S2, controlling the electric slide rail, the swing arm motor and the electric swing arm, controlling the position of the rotating seat, and then controlling the direction of the bottom of the glass tube by controlling the rotating motor and the adjusting motor, and then controlling the telescopic electric push rod to drive the glass tube to extend into the endoscope;
[0024] S3, starting the traction motor, the traction motor drives the driving gear to rotate, the moving slide drives the lighting lamp and the endoscope camera to move, the lighting lamp is turned on, the moving slide drives the endoscope camera to move, the rotating motor drives the endoscope camera to rotate, and data on the performance of the underground root system of the plant is collected;
[0025] S4, controlling the adjusting motor to drive the adjusting seat to rotate the glass tube, and then controlling the moving wheel, the electric slide rail, the swing arm motor, the electric swing arm, the rotating motor and the telescopic electric push rod to control the panoramic camera to shoot the aboveground plant phenotype;
[0026] S5. Cooperate with the panoramic camera to shoot, control the adjustment motor to drive the glass tube to rotate, and then control the moving wheel, electric slide rail, swing arm motor, electric swing arm, rotating motor, telescopic electric push rod and electric rotating clamp. The electric rotating clamp places the clamped sample inside the placement grid, and controls the moving electric push rod to drive the sunshade cloth to move to cover the sample.
[0027] Compared with the prior art, the present invention has the following beneficial effects:
[0028] 1. A convenient collection component is provided to control the mobile wheel to rotate and control the trolley to the endoscope position. By controlling the electric slide rail, the swing arm motor, the electric swing arm, the rotating motor and the adjusting motor, the bottom of the glass tube is facing the inside of the endoscope, and the telescopic electric push rod is used to drive the telescopic inner rod to move, so that the glass tube enters the endoscope. Then, under the limiting action of the guide slide rail, the traction motor drives the mobile slide to move along the guide slide rail, and the mobile slide drives the lighting lamp and the endoscope camera to move. When the lighting lamp is turned on, the endoscope camera is driven to move by the mobile slide to collect data on the performance of the underground root system of the plant. At the same time, the rotating motor drives the threaded seat to rotate at a uniform speed, which can realize the shooting and collection of the endoscope camera at multiple angles. The rotating motor drives the endoscope camera to rotate evenly, and the traction motor drives the endoscope camera to move at a uniform speed. Compared with manual collection and shooting, the imaging effect of the shooting is better and the data collection is more accurate. There is no need for manual on-site data collection, which reduces the labor intensity.
[0029] When the underground root data is collected, the glass tube is rotated by controlling the adjustment motor to drive the adjustment seat to rotate, and then the panoramic camera can be controlled to shoot the aboveground plant phenotypes by controlling the moving wheels, electric slide rails, swing arm motors, electric swing arms, rotating motors and telescopic electric push rods. It has a wide range of applications and does not require manual on-site data collection, further reducing the intensity of manual labor. In addition, the Mecanum moving wheels can be controlled to enable the trolley to move flexibly in the test field. It has high flexibility and can be used in a variety of complex terrains. Combined with automatic tracking technology and background remote control, when the data collection of one plant is completed, the next plant can be automatically collected. It has a high degree of automation and convenient collection.
[0030] 2. A sample sampling component is provided. When it is necessary to sample and study the leaves, flowers, fruits and other samples of the plants, the panoramic camera is used to shoot, and the adjusting motor is controlled to drive the glass tube to rotate. The moving wheel, electric slide rail, swing arm motor, electric swing arm, rotating motor and telescopic electric push rod are then controlled to drive the electric rotating clamp to move. The sample to be sampled is clamped by the electric rotating clamp, and the clamped sample is placed in the placement grid inside the sampling box by controlling the electric slide rail, swing arm motor, electric swing arm, rotating motor and telescopic electric push rod. There is no need to collect samples on site manually, which further reduces the intensity of manual labor. At the same time, the moving electric push rod is controlled to drive the sunshade cloth to cover the placed samples to avoid damage to the samples by direct sunlight.
[0031] To summarize, in the convenient collection component, the electric slide rail drives the electric swing arm to move, which can increase the operating range of the panoramic camera. In the sample sampling component, the electric slide rail drives the electric swing arm to move to cooperate with the shooting of the panoramic camera, and also increases the clamping range of the electric rotary clamp. The two components cooperate with each other to make the car more integrated. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:
[0033] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;
[0034] Figure 2 It is a structural schematic diagram of the convenient collection component of the present invention;
[0035] Figure 3 It is a schematic diagram of the installation structure of the panoramic camera of the present invention;
[0036] Figure 4 It is a schematic diagram of the installation structure of the guide rail of the present invention;
[0037] Figure 5 The present invention Figure 4 A magnified image of area A;
[0038] Figure 6 It is a schematic diagram of the structure of the sample sampling assembly of the present invention;
[0039] Figure 7 It is a schematic diagram of the installation structure of the sampling box of the present invention;
[0040] Figure 8 It is a schematic diagram of the steps of the operating system of the present invention;
[0041] Numbers in the figure: 1, assembly table;
[0042] 2. Convenient collection components; 201. Electric slide rail; 202. Swing arm motor; 203. Electric swing arm; 204. Rotating seat; 205. Rotating motor; 206. Telescopic outer tube; 207. Telescopic inner rod; 208. Mounting plate; 209. Telescopic electric push rod; 210. Panoramic camera; 211. Adjusting seat; 212. Adjusting motor; 213. Rotating motor; 214. Threaded seat; 215. Guide rail; 216. Traction rack; 217. Moving slide; 218. Endoscopic camera; 219. Illuminating lamp; 220. Traction motor; 221. Driving gear; 222. Protective cover; 223. Glass tube; 224. Moving wheel;
[0043] 3. Sample sampling assembly; 301. Electric rotating fixture; 302. Sampling box; 303. Partition chamber; 304. Sampling drawer box; 305. Placement grid; 306. Magnet sheet; 307. Moving slide bar; 308. Moving ear; 309. Sunshade cloth; 310. Moving electric push rod. DETAILED DESCRIPTION
[0044] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.
[0045] Example: Figure 1-7 As shown, the present invention provides a technical solution for an automated plant data collection vehicle, comprising an assembly platform 1, a convenient collection component 2 is arranged on one side of the top of the assembly platform 1, and the convenient collection component 2 comprises an electric slide rail 201, a swing arm motor 202, an electric swing arm 203, a rotating seat 204, a rotating motor 205, a telescopic outer tube 206, a telescopic inner rod 207, a mounting plate 208, a telescopic electric push rod 209, a panoramic camera 210, an adjustment seat 211, an adjustment motor 212, a rotating motor 213, a threaded seat 214, a guide slide rail 215, a traction rack 216, a moving slide seat 217, an endoscope camera 218, an illuminating lamp 219, a traction motor 220, a driving gear 221, a protective cover 222, a glass tube 223 and a moving wheel 224;
[0046] An electric slide rail 201 is installed on one side of the top of the assembly table 1, and a swing arm motor 202 is installed on the top of the output end of the electric slide rail 201. The output end of the swing arm motor 202 is connected to one end of the electric swing arm 203, and the other end of the electric swing arm 203 is rotatably connected to a rotating seat 204. A rotating motor 205 is installed on one side of the electric swing arm 203 at one end of the rotating seat 204, and the output end of the rotating motor 205 is connected to one end of the rotating shaft of the rotating seat 204. A telescopic outer tube 206 is connected to one side of the rotating seat 204, and a telescopic inner rod 207 is slidably connected to the inner bottom of the telescopic outer tube 206. The outer side of the rod 207 fits the inner side of the telescopic outer tube 206, so that the telescopic inner rod 207 can stably move inside the telescopic outer tube 206. The outer side of the telescopic inner rod 207 and the inner side of the telescopic outer tube 206 are both smooth surfaces, so that the friction resistance between the telescopic inner rod 207 and the telescopic outer tube 206 is reduced. The bottom of the telescopic inner rod 207 is connected to one side of the top of the mounting plate 208. A telescopic electric push rod 209 is installed in the middle of one side of the telescopic outer tube 206. The output end of the telescopic electric push rod 209 is connected to the middle of the top of the mounting plate 208. A panoramic camera 210 is installed on the other side of the top of the mounting plate 208.
[0047] A rotating motor 213 is provided at the bottom of the mounting plate 208, and a threaded seat 214 is connected to the output end of the rotating motor 213. An adjusting seat 211 is rotatably connected to the bottom of the mounting plate 208. An adjusting motor 212 is installed at one end of the mounting plate 208, and the output end of the adjusting motor 212 is connected to one end of the rotating shaft of the adjusting seat 211. A rotating motor 213 is installed at the bottom of the adjusting seat 211. By controlling the adjusting motor 212 to control the rotation of the adjusting seat 211, the rotating motor 213 can be controlled to rotate, thereby controlling the direction of the threaded seat 214. A guide rail 215 is connected to the bottom of the threaded seat 214. The guide rail 215 is connected to the bottom of the threaded seat 214. A traction rack 216 is connected to one side of the rail 215, a movable slide 217 is slidably connected to the outer side of the guide rail 215, an endoscope camera 218 is installed on the top of one side of the movable slide 217, an illuminating lamp 219 is installed on one side of the movable slide 217 at the bottom of the endoscope camera 218, and a traction motor 220 is installed on the other side of the movable slide 217, and a driving gear 221 is connected to the output end of the traction motor 220, and the driving gear 221 is meshed with the traction rack 216. Under the limiting effect of the guide rail 215, the traction motor 220 can drive the movable slide 217 to move along the guide rail 215;
[0048] A glass tube 223 is connected to the bottom of the threaded seat 214 and is located outside the traction motor 220 through a threaded hole. The glass tube 223 is a transparent glass tube 223 and does not affect the shooting of the endoscope camera 218. The glass tube 223 can isolate the traction rack 216 from the external environment to prevent external debris from being entangled on the surface of the traction rack 216 and hindering the movement of the movable slide 217. A protective cover 222 is installed outside the driving gear 221. The protective cover 222 can isolate the driving gear 221 from the glass tube 223. When the glass tube 223 is assembled and connected with the threaded seat 214, it can prevent the driving gear 221 from damaging the glass tube 223.
[0049] The four corners of the bottom of the assembly table 1 are equipped with moving wheels 224, which are Mecanum wheels, and can flexibly drive the trolley to move in multiple directions, making the trolley more flexible in movement;
[0050] A sample sampling assembly 3 is arranged on the other side of the top of the assembly table 1, and the sample sampling assembly 3 includes an electric rotating fixture 301, a sampling box 302, a partition chamber 303, a sampling box 304, a placement grid 305, a magnet sheet 306, a movable slide bar 307, a movable ear 308, a sunshade cloth 309 and a movable electric push rod 310;
[0051] An electric rotating clamp 301 is installed at one end of the mounting plate 208, and a sampling box 302 is installed on the other side of the top of the assembly table 1. Partition chambers 303 are evenly arranged inside the sampling box 302, and a sampling drawer 304 is slidably embedded inside the partition chamber 303. A magnet sheet 306 is bonded to the bottom of the inner side of the partition chamber 303. The sampling drawer 304 is made of metal iron. Under the action of magnetic force, the magnet sheet 306 can fix the partition chamber 303 more stably inside the partition chamber 303. A placement grid 305 is arranged inside the sampling drawer 304. Moving slide bars 307 are installed on the top of both sides of the outside of the sampling box 302. Moving ears 308 are slidably connected to the outer side of the moving slide bar 307. The outer side of the moving slide bar 307 is a smooth surface, which reduces the friction resistance between the moving slide bar 307 and the moving ear 308. One side of the top of the sampling box 302 is connected to the sunshade cloth. On one side of the bottom of 309, the tops of the two movable ears 308 are connected to the other side of the bottom of the sunshade cloth 309, and a movable electric push rod 310 is installed on the top of the assembly table 1 on the outside of the sampling box 302. The output end of the movable electric push rod 310 is connected to the bottom of the adjacent movable ear 308. The electric slide rail 201, the swing arm motor 202, the electric swing arm 203, the rotating motor 205, the telescopic electric push rod 209, the panoramic camera 210, the adjustment motor 212, the rotating motor 213, the endoscope camera 218, the lighting lamp 219, the traction motor 220, the moving wheel 224, the electric rotating clamp 301 and the movable electric push rod 310 input end are electrically connected to the output end of the external controller, and the input end of the external controller is electrically connected to the output end of the external power supply. The controller controls each electrical component, so as to conveniently control each electrical component of the trolley.
[0052] like Figure 8 As shown; the present invention also provides an operating system for an automated plant data collection vehicle, the operating system comprising a collection module, a mobile module and a data processing module;
[0053] The acquisition module includes a panoramic camera 210, an endoscope camera 218 and an electric rotating fixture 301;
[0054] The mobile module includes an electric slide rail 201, a swing arm motor 202, an electric swing arm 203, a rotating motor 205, a telescopic electric push rod 209, an adjustment motor 212, a rotating motor 213, a traction motor 220, a moving wheel 224, an electric rotating fixture 301 and a moving electric push rod 310;
[0055] The data processing module is an external controller, which can be connected to WiFi and Bluetooth for wireless operation;
[0056] And includes the following steps:
[0057] S1. Plan the path of the test field in advance, place the trolley on the path in the test field, and control the moving wheel 224 to rotate and control the trolley assembly platform 1 to move;
[0058] S2, control the electric slide rail 201, the swing arm motor 202 and the electric swing arm 203, control the position of the rotating seat 204, and then control the direction of the bottom of the glass tube 223 by controlling the rotating motor 205 and the adjusting motor 212, and then control the telescopic electric push rod 209 to drive the glass tube 223 to extend into the endoscope;
[0059] S3, start the traction motor 220, the traction motor 220 drives the driving gear 221 to rotate, the moving slide 217 drives the lighting lamp 219 and the endoscope camera 218 to move, the lighting lamp 219 is turned on, the moving slide 217 drives the endoscope camera 218 to move, and the rotating motor 213 drives the endoscope camera 218 to rotate, so as to collect data on the performance of the underground root system of the plant;
[0060] S4, controlling the adjusting motor 212 to drive the adjusting seat 211 to rotate the glass tube 223, and then controlling the moving wheel 224, the electric slide rail 201, the swing arm motor 202, the electric swing arm 203, the rotating motor 205 and the telescopic electric push rod 209 to control the panoramic camera 210 to shoot the aboveground plant phenotype;
[0061] S5. Cooperate with the panoramic camera 210 to shoot, control the adjustment motor 212 to drive the glass tube 223 to rotate, and then control the moving wheel 224, the electric slide rail 201, the swing arm motor 202, the electric swing arm 203, the rotating motor 205, the telescopic electric push rod 209 and the electric rotating clamp 301. The electric rotating clamp 301 places the clamped sample inside the placement grid 305, and controls the moving electric push rod 310 to drive the sunshade cloth 309 to move to cover the sample.
[0062] The working principle and use process of the present invention are as follows: the path of the test field is planned in advance. When collecting data of the plants, the trolley is first placed in the path of the test field, and the trolley assembly platform 1 is controlled to move by controlling the rotation of the moving wheel 224. When the trolley approaches the endoscope position, the electric slide rail 201, the swing arm motor 202 and the electric swing arm 203 are controlled to control the position of the rotating seat 204, and then the direction of the bottom of the glass tube 223 is controlled by controlling the rotating motor 205 and the adjusting motor 212, so that the bottom of the glass tube 223 faces the inside of the endoscope. At this time, the telescopic electric push rod 209 is started, and the telescopic electric push rod 209 drives the telescopic inner rod 207 to move out from the inside of the telescopic outer tube 206, thereby driving the glass tube 223 to extend into the inside of the endoscope;
[0063] After the glass tube 223 is inserted into the endoscope, the traction motor 220 is started, and the traction motor 220 drives the driving gear 221 to rotate, and the driving gear 221 is meshed with the traction rack 216. Under the limiting effect of the guide rail 215, the traction motor 220 drives the moving slide 217 to move along the guide rail 215, and the moving slide 217 drives the lighting lamp 219 and the endoscope camera 218 to move. The lighting lamp 219 is turned on, and the endoscope camera 218 is driven to move by the moving slide 217 to collect data on the performance of the underground root system of the plant. At the same time, by starting the rotating motor 213, the rotating motor 213 drives the threaded seat 214 to rotate at a uniform speed, so that the endoscope camera 218 can be photographed and collected at multiple angles. The rotating motor 213 drives the endoscope camera 218 to rotate uniformly, and the traction motor 220 drives the endoscope camera 218 to move at a uniform speed. Compared with manual collection and shooting, the imaging effect of the shooting is better, the data collection is more accurate, and there is no need for manual on-site data collection, which reduces the labor intensity.
[0064] When the underground root data collection is completed, the glass tube 223 is rotated by controlling the adjustment motor 212 to drive the adjustment seat 211 to rotate, so that the glass tube 223 does not collide with the plant to prevent the glass tube 223 from hindering the movement of the panoramic camera 210, and then the moving wheel 224, the electric slide rail 201, the swing arm motor 202, the electric swing arm 203, the rotating motor 205 and the telescopic electric push rod 209 are controlled to control the panoramic camera 210 to shoot the phenotype of the aboveground plant. The application range is wide, and there is no need for manual on-site data collection, which further reduces the labor intensity. In addition, by controlling the Mecanum moving wheel 224, the trolley can be flexibly moved in the test field, which has high flexibility and can be applied to a variety of complex terrains. The path is planned in advance, and then combined with automatic tracking technology and background remote control, when the data collection of one plant is completed, the data of the next plant can be automatically collected, and the degree of automation is high.
[0065] When it is necessary to sample and study the leaves, flowers, fruits and other samples of the plant, in conjunction with the shooting of the panoramic camera 210, the regulating motor 212 is controlled to drive the glass tube 223 to rotate, so that the glass tube 223 does not hinder the movement of the electric rotating clamp 301, and then the electric rotating clamp 301 is driven to move by controlling the moving wheel 224, the electric slide rail 201, the swing arm motor 202, the electric swing arm 203, the rotating motor 205 and the telescopic electric push rod 209, and the sample to be sampled is clamped by the electric rotating clamp 301, and the sample to be sampled is clamped by controlling the electric slide rail 201, the swing arm motor 202, the electric swing arm 203, the rotating motor 205 and the telescopic electric push rod 209. The arm 203, the rotating motor 205 and the telescopic electric push rod 209 place the clamped sample in the placement grid 305 inside the sampling box 304. After the placement is completed, the moving electric push rod 310 is started. By controlling the moving electric push rod 310, the moving ear 308 is driven to move along the moving slide bar 307, and the sunshade cloth 309 is used to cover the placed sample to prevent direct sunlight from damaging the sample. At the same time, the sunshade cloth 309 can block the top of the sampling box 302 to prevent the sample from jumping out of the placement grid 305 when the trolley moves. There is no need to collect the sample on site manually, which further reduces the intensity of manual labor.
[0066] Finally, it should be noted that the above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. An automated plant data collection vehicle, comprising an assembly platform (1), characterized in that: A convenient collection component (2) is arranged on one side of the top of the assembly platform (1), and the convenient collection component (2) comprises an electric slide rail (201); An electric slide rail (201) is installed on one side of the top of the assembly platform (1); a swing arm motor (202) is installed on the top of the output end of the electric slide rail (201); the output end of the swing arm motor (202) is connected to one end of an electric swing arm (203); the other end of the electric swing arm (203) is rotatably connected to a rotating seat (204); a rotating motor (205) is installed on one side of the electric swing arm (203) located at one end of the rotating seat (204); the output end of the rotating motor (205) is connected to the rotating shaft of the rotating seat (204) The ends are connected, one side of the rotating seat (204) is connected to a telescopic outer tube (206), the inner bottom of the telescopic outer tube (206) is slidably connected to a telescopic inner rod (207), the bottom of the telescopic inner rod (207) is connected to one side of the top of the mounting plate (208), a telescopic electric push rod (209) is installed in the middle of one side of the telescopic outer tube (206), the output end of the telescopic electric push rod (209) is connected to the middle of the top of the mounting plate (208), and a panoramic camera (210) is installed on the other side of the top of the mounting plate (208); A rotating motor (213) is arranged at the bottom of the mounting plate (208); the output end of the rotating motor (213) is connected to a threaded seat (214); the bottom of the threaded seat (214) is connected to a guide rail (215); one side of the guide rail (215) is connected to a traction rack (216); the outer side of the guide rail (215) is slidably connected to a movable slide seat (217); an endoscope camera (218) is installed at the top of one side of the movable slide seat (217); and an illuminating lamp (219) is installed at the bottom of the endoscope camera (218) on one side of the movable slide seat (217); Moving wheels (224) are installed at the four corners of the bottom of the assembly platform (1).
2. The automated plant data collection vehicle according to claim 1, characterized in that: The bottom of the mounting plate (208) is rotatably connected to an adjustment seat (211); one end of the mounting plate (208) is equipped with an adjustment motor (212); an output end of the adjustment motor (212) is connected to one end of a rotation shaft of the adjustment seat (211); and a rotating motor (213) is installed at the bottom of the adjustment seat (211).
3. The automated plant data collection vehicle according to claim 1, characterized in that: A traction motor (220) is installed on the other side of the movable slide seat (217), and an output end of the traction motor (220) is connected to a driving gear (221), and the driving gear (221) is meshed with a traction rack (216).
4. The automated plant data collection vehicle according to claim 3, characterized in that: A protective cover (222) is installed on the outside of the driving gear (221), and a glass tube (223) is connected to the bottom of the threaded seat (214) and located on the outside of the traction motor (220) through a threaded hole.
5. The automated plant data collection vehicle according to claim 1, characterized in that: The outer side of the telescopic inner rod (207) is in contact with the inner side of the telescopic outer tube (206), and both the outer side of the telescopic inner rod (207) and the inner side of the telescopic outer tube (206) are smooth surfaces.
6. The automated plant data collection vehicle according to claim 1, characterized in that: A sample sampling assembly (3) is arranged on the other side of the top of the assembly platform (1), and the sample sampling assembly (3) comprises an electric rotating fixture (301); An electric rotating fixture (301) is installed at one end of the mounting plate (208), and a sampling box (302) is installed on the other side of the top of the assembly platform (1). Partition chambers (303) are evenly arranged inside the sampling box (302), and a sampling box (304) is slidably embedded inside the partition chamber (303). A placement grid (305) is arranged inside the sampling box (304). Moving slide bars (307) are installed on the tops of both sides of the outside of the sampling box (302), and moving ears (308) are slidably connected to the outside of the moving slide bars (307). One side of the top of the sampling box (302) is connected to one side of the bottom of the sunshade cloth (309), and the tops of the two moving ears (308) are connected to the other side of the bottom of the sunshade cloth (309). A moving electric push rod (310) is installed on the top of the assembly platform (1) on one side of the outside of the sampling box (302), and the output end of the moving electric push rod (310) is connected to the bottom of the adjacent moving ear (308).
7. The automated plant data collection vehicle according to claim 6, characterized in that: A magnet sheet (306) is bonded to the bottom of the inner side of the partition chamber (303), and the outer side of the movable slide bar (307) is a smooth surface.
8. The automated plant data collection vehicle according to claim 6, characterized in that: The input ends of the electric slide rail (201), the swing arm motor (202), the electric swing arm (203), the rotating motor (205), the telescopic electric push rod (209), the panoramic camera (210), the adjustment motor (212), the rotating motor (213), the endoscope camera (218), the lighting lamp (219), the traction motor (220), the moving wheel (224), the electric rotating clamp (301) and the moving electric push rod (310) are electrically connected to the output end of the external controller, and the input end of the external controller is electrically connected to the output end of the external power supply.
9. An automated plant data collection vehicle operating system, characterized in that: An operating system comprising an automated plant data collection vehicle according to claim 8, the operating system comprising a collection module, a movement module and a data processing module; The acquisition module comprises a panoramic camera (210), an endoscopic camera (218) and an electric rotating fixture (301); The mobile module comprises an electric slide rail (201), a swing arm motor (202), an electric swing arm (203), a rotating motor (205), a telescopic electric push rod (209), an adjustment motor (212), a rotating motor (213), a traction motor (220), a moving wheel (224), an electric rotating fixture (301) and a moving electric push rod (310); The data processing module is an external controller, which can be connected to WiFi and Bluetooth for wireless operation; And the system includes the following steps: S1. Plan the path of the test field in advance, place the trolley on the path in the test field, and control the moving wheels (224) to rotate and control the trolley assembly platform (1) to move; S2, controlling the electric slide rail (201), the swing arm motor (202) and the electric swing arm (203), controlling the position of the rotating seat (204), and then controlling the direction of the bottom of the glass tube (223) by controlling the rotating motor (205) and the regulating motor (212), and then controlling the telescopic electric push rod (209) to drive the glass tube (223) to extend into the endoscope; S3, starting the traction motor (220), the traction motor (220) drives the driving gear (221) to rotate, the moving slide (217) drives the lighting lamp (219) and the endoscope camera (218) to move, the lighting lamp (219) is turned on, the moving slide (217) drives the endoscope camera (218) to move, the rotating motor (213) drives the endoscope camera (218) to rotate, and data on the performance of the underground root system of the plant is collected; S4, controlling the adjusting motor (212) to drive the adjusting seat (211) to rotate the glass tube (223), and then controlling the moving wheel (224), the electric slide rail (201), the swing arm motor (202), the electric swing arm (203), the rotating motor (205) and the telescopic electric push rod (209), and controlling the panoramic camera (210) to shoot the aboveground plant phenotype; S5. In cooperation with the panoramic camera (210) for shooting, the regulating motor (212) is controlled to drive the glass tube (223) to rotate, and then the moving wheel (224), the electric slide rail (201), the swing arm motor (202), the electric swing arm (203), the rotating motor (205), the telescopic electric push rod (209) and the electric rotating clamp (301) are controlled. The electric rotating clamp (301) places the clamped sample inside the placement grid (305), and the sunshade cloth (309) is driven to move to cover the sample by controlling the moving electric push rod (310).